Tent Camping?

The next conversation that Kathleen and I had was about cost. One way that we could cut down on costs would be to spend some of our nights camping. I have been camping since I was a child, but most of my recent camping experiences involved an RV with running water, bathroom, stove, fridge, and bed. Would I be willing to camp on the ground in a tent? Would I get any sleep sleeping on the cold hard ground? Would I be so miserable that I would say forget it and head to the closest motel? Next step... find out about the equipment needed for tent camping.